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About the Document
History
Revision
Date
Author
Description
1.0
2017-11-23
Matt YE/Vita LV
Initial
1.1
2018-02-12
Matt YE/Vita LV
1. Added geo-fence related AT commands in Chapter
2.10.
2. Modified an error in the example in Chapter 3.3.
3. Added the example for operation of geo-fence
function in Chapter 3.4.
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Contents
About the Document ................................................................................................................................... 2
Contents ....................................................................................................................................................... 3
Table Index ................................................................................................................................................... 5
1 Introduction .......................................................................................................................................... 6
1.1. GNSS Turning on/off Procedures ............................................................................................... 6
1.2. NMEA Sentences Type ............................................................................................................... 7
1.3. Introduction of gpsOneXTRA Assistance .................................................................................... 7
2 Description of GNSS AT Commands ................................................................................................. 9
2.1. AT+QGPSCFG GNSS Configurations ..................................................................................... 9
2.1.1 AT+QGPSCFG=“outport” Configure NMEA Sentences Output Port ............................ 9
2.1.2 AT+QGPSCFG=“nmeasrc” Enable/Disable Acquisition of NMEA Sentences via
AT+QGPSGNMEA ........................................................................................................................ 10
2.1.3 AT+QGPSCFG=“gpsnmeatype” Configure Output Type of GPS NMEA Sentences .. 11
2.1.4 AT+QGPSCFG=“glonassnmeatype” Configure Output Type of GLONASS NMEA
Sentences ..................................................................................................................................... 12
2.1.5 AT+QGPSCFG=“galileonmeatype” Configure Output Type of Galileo NMEA
Sentences ..................................................................................................................................... 12
2.1.6 AT+QGPSCFG=“beidounmeatype” Configure Output Type of BeiDou NMEA
Sentences ..................................................................................................................................... 13
2.1.7 AT+QGPSCFG=“gsvextnmeatype” Enable/Disable Output of GSVEXT NMEA
Sentences ..................................................................................................................................... 14
2.1.8 AT+QGPSCFG=“gnssconfig” Configure Supported GNSS Constellation .................. 14
2.1.9 AT+QGPSCFG=“autogps” Enable/Disable GNSS to Run Automatically .................... 15
2.2. AT+QGPSDEL Delete Assistance Data ................................................................................. 16
2.3. AT+QGPS Turn on GNSS ...................................................................................................... 17
2.4. AT+QGPSEND Turn off GNSS .............................................................................................. 18
2.5. AT+QGPSLOC Acquire Positioning Information .................................................................... 19
2.6. AT+QGPSGNMEA Acquire NMEA Sentences ....................................................................... 21
2.7. AT+QGPSXTRA Enable gpsOneXTRA Assistance Function ................................................ 22
2.8. AT+QGPSXTRATIME Inject gpsOneXTRA Time ................................................................... 23
2.9. AT+QGPSXTRADATA Inject gpsOneXTRA Data File ............................................................ 24
2.10. AT+QCFGEXT Extended Configuration Settings ............................................................... 25
2.10.1 AT+QCFGEXT=“addgeo” Add a Geo-fence................................................................ 25
2.10.2 AT+QCFGEXT=“deletegeo” Delete a Geo-fence ........................................................ 27
2.10.3 AT+QCFGEXT=“querygeo” Query the Position with Respect to Geo-fence .............. 28
3 Examples ............................................................................................................................................ 29
3.1. Turn on and off the GNSS ......................................................................................................... 29
3.2. Application of GNSS <nmeasrc> .............................................................................................. 29
3.3. Operation Procedures of gpsOneXTRA Assistance Function .................................................. 30
3.4. Application of Geo-fence Function ............................................................................................ 31
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4 Summary of Error Codes .................................................................................................................. 32
5 Appendix A References ..................................................................................................................... 33
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Table Index
TABLE 1: SUMMARY OF ERROR CODES ...................................................................................................... 32
TABLE 2: RELATED DOCUMENT .................................................................................................................... 33
TABLE 3: TERMS AND ABBREVIATIONS ........................................................................................................ 33
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1 Introduction
Quectel BG96 module integrates a GNSS engine which supports GPS, BeiDou, Galileo, GLONASS and
QZSS systems, and also it supports gpsOneXTRA Assistance technology. The high performance GNSS
engine is suitable for various applications where lowest-cost and accurate positioning is needed, and it
supports position tracking without network assistance. BG96 GNSS can be applied in the following
applications: turn-by-turn navigation, asset tracking, personnel tracking, location-aware games, as well as
home and fleet management.
1.1. GNSS Turning on/off Procedures
BG96 GNSS supports location calculation without any assistance from the network. GNSS turning on/off
procedures are shown below:
Step 1: Configure GNSS parameters via AT+QGPSCFG.
Step 2: Turn on GNSS via AT+QGPS.
Step 3: After GNSS is turned on and position is fixed successfully, the positioning information can be
obtained in three ways:
1) NMEA sentences are output to "usbnmea" port by default. Customers can read the port to obtain
NMEA sentences.
2) AT+QGPSLOC can be used to obtain positioning information directly, such as latitude, longitude,
height, GNSS positioning mode, time, number of satellites, and so on.
3) After enabling <nmeasrc> via AT+QGPSCFG=“nmeasrc”,1, customers can acquire the
specified NMEA sentence via AT+QGPSGNMEA. If <nmeasrc> is disabled, this command
cannot be used.
Step 4: GNSS can be turned off in two ways:
1) If the parameter <fixcount> of AT+QGPS is set to 0 in Step 2, GNSS will get position
continuously, and it can be turned off via AT+QGPSEND.
2) If <fixcount> reaches the specified value, the GNSS will stop automatically.
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1.2. NMEA Sentences Type
The NMEA sentences are compatible with NMEA-0183 Protocol, and all of the standard NMEA sentences
have four kinds of prefix, as illustrated below.
For GPS sentences, the prefix is “GP”, as below:
GPGGA - Global positioning system fix data, such as time, position, etc.
GPRMC - Recommended minimum data
GPGSV - Detailed satellite data
GPGSA - Overall satellite data
GPVTG - Vector track and speed over the ground
For GLONASS sentences, the prefixes are "GL" and "GN", as below:
GLGSV - Detailed satellite data
GNGSA - Overall satellite data
GNGNS - Positioning system
For Galileo sentences, the prefixes are "GA" and "GN", as below:
GAGSV - Detailed satellite data
GNGSA - Overall satellite data
GNGNS - Positioning system
For BeiDou sentences, the prefix is "PQ", as below:
PQGSV - Detailed satellite data
PQGSA - Overall satellite data
1.3. Introduction of gpsOneXTRA Assistance
gpsOneXTRA Assistance technology enhances the performance of GNSS, and provides simplified GNSS
assistance delivery, including ephemeris, almanac, ionosphere, UTC, health and coarse time assistance
for GNSS engine. After activating gpsOneXTRA Assistance, the TTFF (Time to First Fix) can be reduced
by 18~30s (or more in harsh environments with weak signals). The assistance data which is obtained
from one of the gpsOneXTRA Assistance web servers on the network needs to be updated once a day (or
every couple of days).
Before using this function, customers need to ensure that the valid gpsOneXTRA assistance data is
available first. They need to download a new gpsOneXTRA binary file which contains the data from one of
the gpsOneXTRA Assistance web servers via URLs listed below. The files named as xtra2.bin are for
GPS+GLONASS and the files named as xtra3grc.bin are for GPS+GLONASS+BeiDou. The exact file
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size should be less than 50kB.
http://xtrapath1.izatcloud.net/xtra2.bin
http://xtrapath2.izatcloud.net/xtra2.bin
http://xtrapath3.izatcloud.net/xtra2.bin
http://xtrapath1.izatcloud.net/xtra3grc.bin
http://xtrapath2.izatcloud.net/xtra3grc.bin
http://xtrapath3.izatcloud.net/xtra3grc.bin
gpsOneXTRA assistance data needs to be updated regularly. Customers can query the status of
gpsOneXTRA data file via AT+QGPSXTRADATA? and then update the data properly.
The operation procedures of gpsOneXTRA Assistance function are shown as follows:
Step 1: If gpsOneXTRA Assistance is disabled, enable it first via AT+QGPSXTRA and then restart the
module to activate the function.
Step 2: Query and confirm the current validity of gpsOneXTRA data file via AT+QGPSXTRADATA?. If the
data is invalid, perform Step 3~6 then; if the data is valid, turn on GNSS engine according to the
procedures described in Chapter 1.1 directly.
Step 3: Download file xtra2.bin or xtra3grc.bin to the module via URLs listed above.
Step 4: Inject the correct gpsOneXTRA time to GNSS engine via AT+QGPSXTRATIME.
Step 5: Inject the valid gpsOneXTRA data file to GNSS engine via AT+QGPSXTRADATA.
Step 6: Turn on GNSS engine according to the procedures described in Chapter 1.1.
For more detailed information of the AT commands mentioned above, please refer to Chapters 2.7, 2.8
and 2.9
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2 Description of GNSS AT Commands
This chapter mainly introduces the AT commands relating to BG96’s GNSS function.
2.1. AT+QGPSCFG GNSS Configurations
The command is used to query and configure various GNSS settings, including NMEA sentences output
port, output type of NMEA sentences and more.
2.1.1 AT+QGPSCFG=“outport” Configure NMEA Sentences Output Port
AT+QGPSCFG GNSS Configurations
Test Command
AT+QGPSCFG=?
Response
+QGPSCFG: "outport",("none","usbnmea","uartnmea")
+QGPSCFG: "nmeasrc",(0,1)
+QGPSCFG: "gpsnmeatype",(0-31)
+QGPSCFG: "glonassnmeatype",(0-7)
+QGPSCFG: "galileonmeatype",(0,1)
+QGPSCFG: "beidounmeatype",(0-3)
+QGPSCFG: "gsvextnmeatype",(0,1)
+QGPSCFG: "gnssconfig",(0-6)
+QGPSCFG: "autogps",(0,1)
OK
Reference
AT+QGPSCFG=“outport” Configure NMEA Sentences Output Port
Write Command
AT+QGPSCFG=“outport”[,<outport>]
Response
When there are two parameters:
OK
When the second parameter is omitted, query the current
setting:
+QGPSCFG: “outport”,<outport>
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Parameter
2.1.2 AT+QGPSCFG=“nmeasrc” Enable/Disable Acquisition of NMEA Sentences via
AT+QGPSGNMEA
The command enables/disables acquisition of NMEA sentences via AT+QGPSGNMEA.
Parameter
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<outport> Configure the output port of NMEA sentences, and the configuration parameter
will be automatically saved to NVRAM.
“none” Close NMEA sentence output
“usbnmea” Output via USB NMEA port
“uartnmea” Output via UART3 port
<errcode> Integer type. The error code of operation. If it is not 0, it is the type of error.
Please refer to Chapter 4 for details.
AT+QGPSCFG=“nmeasrc” Enable/Disable Acquisition of NMEA Sentences via
AT+QGPSGNMEA
Write Command
AT+QGPSCFG=“nmeasrc”[,<nmeasrc
>]
Response
When there are two parameters:
OK
When the second parameter is omitted, query the current
setting:
+QGPSCFG: “nmeasrc”,<nmeasrc>
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<nmeasrc> After being enabled, original NMEA sentences can be acquired via
AT+QGPSGNMEA, and the configuration parameter will be automatically
saved to NVRAM. Meanwhile, sentences are output via the same NMEA ports
as before
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2.1.3 AT+QGPSCFG=“gpsnmeatype” Configure Output Type of GPS NMEA
Sentences
Parameter
0 Disable
1 Enable
<errcode> Integer type. The error code of operation. If it is not 0, it is the type of error.
Please refer to Chapter 4 for details.
AT+QGPSCFG=“gpsnmeatype” Configure Output Type of GPS NMEA Sentences
Write Command
AT+QGPSCFG=“gpsnmeatype”[,<gps
nmeatype>]
Response
When there are two parameters:
OK
When the second parameter is omitted, query the current
setting:
+QGPSCFG: “gpsnmeatype”,<gpsnmeatype>
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<gpsnmeatype> Output type of GPS NMEA sentences by ORed, and the configuration
parameter will be automatically saved to NVRAM. The default value is 31
which means that all the five types of sentences will be outputted.
0 Disable
1 GGA
2 RMC
4 GSV
8 GSA
16 VTG
<errcode> Integer type. The error code of the operation. If it is not 0, it is the type of error.
Please refer to Chapter 4 for details.
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2.1.4 AT+QGPSCFG=“glonassnmeatype” Configure Output Type of GLONASS
NMEA Sentences
Parameter
2.1.5 AT+QGPSCFG=“galileonmeatype” Configure Output Type of Galileo NMEA
Sentences
AT+QGPSCFG=“glonassnmeatype” Configure Output Type of GLONASS NMEA
Sentences
Write Command
AT+QGPSCFG=“glonassnmeatype”[,
<glonassnmeatype>]
Response
When there are two parameters:
OK
When the second parameter is omitted, query the current
setting:
+QGPSCFG: “glonassnmeatype”,<glonassnmeatype>
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<glonassnmeatype> Configure output type of GLONASS NMEA sentences by ORed, and the
configuration parameter will be automatically saved to NVRAM. The default
value is 0.
0 Disable
1 GSV
2 GSA
4 GNS
<errcode> Integer type. The error code of the operation. If it is not 0, it is the type of error.
Please refer to Chapter 4 for details.
AT+QGPSCFG=“galileonmeatype” Configure Output Type of Galileo NMEA
Sentences
Write Command
AT+QGPSCFG=“galileonmeatype”[,<
galileonmeatype>]
Response
When there are two parameters:
OK
When the second parameter is omitted, query the current
setting:
+QGPSCFG: “galileonmeatype”,<galileonmeatype>
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Parameter
2.1.6 AT+QGPSCFG=“beidounmeatype” Configure Output Type of BeiDou NMEA
Sentences
Parameter
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<galileonmeatype> Configure output type of Galileo NMEA sentences by ORed, and the
configuration parameter will be automatically saved to NVRAM. The default
value is 0.
0 Disable
1 GSV
<errcode> Integer type. The error code of the operation. If it is not 0, it is the type of error.
Please refer to Chapter 4 for details.
AT+QGPSCFG=“beidounmeatype” Configure Output Type of BeiDou NMEA
Sentences
Write Command
AT+QGPSCFG=“beidounmeatype”[,<
beidounmeatype>]
Response
When there are two parameters:
OK
When the second parameter is omitted, query the current
setting:
+QGPSCFG: “beidounmeatype”,<beidounmeatype>
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<beidounmeatype> Configure output type of BeiDou NMEA sentences via ORed, and the
configuration parameter will be automatically saved to NVRAM. The default
value is 0.
0 Disable
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2.1.7 AT+QGPSCFG=“gsvextnmeatype” Enable/Disable Output of GSVEXT NMEA
Sentences
Parameter
2.1.8 AT+QGPSCFG=“gnssconfig” Configure Supported GNSS Constellation
1 GSA
2 GSV
<errcode> Integer type. The error code of the operation. If it is not 0, it is the type of error.
Please refer to Chapter 4 for details.
AT+QGPSCFG=“gsvextnmeatype” Enable/Disable Output of GSVEXT NMEA
Sentences
Write Command
AT+QGPSCFG=“gsvextnmeatype”[,<
gsvextnmeatype>]
Response
When there are two parameters:
OK
When the second parameter is omitted, query the current
setting:
+QGPSCFG: “gsvextnmeatype”,<gsvextnmeatype>
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<gsvextnmeatype> Enable/disable output of extended GSV information. Elevation/Azimuth/SNR
(C/No) will be displayed as decimals when extended information is enabled,
otherwise they will be displayed as integers. The configuration parameter will
be automatically saved to NVRAM. The default value is 0.
0 Disable
1 Enable
<errcode> Integer type. The error code of the operation. If it is not 0, it is the type of error.
Please refer to Chapter 4 for details.
AT+QGPSCFG=“gnssconfig” Configure Supported GNSS Constellation
Write Command
AT+QGPSCFG=“gnssconfig”[,<gnssc
onfig>]
Response
When there are two parameters:
OK
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Parameter
The command will be effective after reboot.
2.1.9 AT+QGPSCFG=“autogps” Enable/Disable GNSS to Run Automatically
When the second parameter is omitted, query the current
setting:
+QGPSCFG: “gnssconfig”,<gnssconfig>
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<gnssconfig> Supported GNSS constellation.
GPS is always ON.
0 GLONASS OFF/BeiDou OFF/Galileo OFF
1 GLONASS ON/BeiDou ON/Galileo ON
2 GLONASS ON/BeiDou ON/Galileo OFF
3 GLONASS ON/BeiDou OFF/Galileo ON
4 GLONASS ON/BeiDou OFF/Galileo OFF
5 GLONASS OFF/BeiDou ON/Galileo ON
6 GLONASS OFF/BeiDou OFF/Galileo ON
<errcode> Integer type. The error code of the operation. If it is not 0, it is the type of error.
Please refer to Chapter 4 for details.
AT+QGPSCFG=“autogps” Enable/Disable GNSS to Run Automatically
Write Command
AT+QGPSCFG=”autogps”[,<autogps
>]
Response
When there are two parameters:
OK
When the second parameter is omitted, query the current
setting:
+QGPSCFG: “autogps”,<autogps>
OK
NOTE
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Parameter
The command is only valid when the GNSS works in stand-alone mode.
2.2. AT+QGPSDEL Delete Assistance Data
The command is used to delete assistance data so as to operate cold start, hot start and warm start of
GNSS. The command can only be executed when GNSS is turned off. After deleting the assistance data
via this command, cold start of GNSS can be enforced via AT+QGPS. Hot/warm start can also be
performed if the corresponding conditions are satisfied.
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<autogps> Enable/disable GNSS to run automatically after the module is powered on.
Configuration parameter will be automatically saved to NVRAM. The default
value is 0.
0 Disable GNSS to run automatically
1 Enable GNSS to run automatically
<errcode> Integer type. The error code of the operation. If it is not 0, it is the type of error.
Please refer to Chapter 4 for details.
AT+QGPSDEL Delete Assistance Data
Test Command
AT+QGPSDEL=?
Response
+QGPSDEL: (0-3)
OK
Write Command
AT+QGPSDEL=<deletetype>
Response
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
NOTE
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Parameter
2.3. AT+QGPS Turn on GNSS
The command is used to turn on GNSS function. Currently it only supports turning on GNSS in
Stand-alone mode (that is, <gnssmode>=1). When <fixcount> is 0, GNSS will fix position continuously,
and it can be turned off via AT+QGPSEND. When <fixcount> is non-zero and reaches the specified
value, GNSS will be turned off automatically.
Parameter
<deletetype> The type of GNSS assistance data to be deleted.
0 Delete all assistance data except gpsOneXTRA data. Enforce cold start after
starting GNSS.
1 Do not delete any data. Perform hot start if the conditions are permitted after
starting GNSS.
2 Delete some related data. Perform warm start if the conditions are permitted after
starting GNSS.
3 Delete the gpsOneXTRA assistance data injected into GNSS engine.
<errcode> Integer type. The error code of the operation. If it is not 0, it is the type of error. Please
refer to Chapter 4 for details.
AT+QGPS Turn on GNSS
Test Command
AT+QGPS=?
Response
+QGPS: (1-4),(1-255),(1-1000),(0-1000),(1-65535)
OK
Read Command
Read current GNSS state
AT+QGPS?
Response
+QGPS: <gnssstate>
OK
Write Command
AT+QGPS=<gnssmode>[,<fixmaxtim
e>[,<fixmaxdist>[,<fixcount>[,<fixrate
>]]]]
Response
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<gnssstate> GNSS state
0 GNSS OFF
1 GNSS ON
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2.4. AT+QGPSEND Turn off GNSS
When GNSS is turned on and <fixcount> is 0, GNSS fixes position continuously. In this case, GNSS can
be turned off compulsorily via AT+QGPSEND. When <fixcount> is non-zero, GNSS will be turned off
automatically when the parameter reaches the specified value, and thus the command can be ignored.
Parameter
<gnssmode> GNSS working mode
1 Stand-alone
2 MS-based
3 MS-assisted
4 Speed-optimal
<fixmaxtime> The maximum positioning time (unit: s). which indicate the response time of
GNSS receiver while measuring the GNSS pseudo range, and the upper time limit
of GNSS satellite searching. It also includes the time for demodulating the
ephemeris data and calculating the position.
1-30-255 Maximum positioning time
<fixmaxdist> Accuracy threshold of positioning. Unit: m.
1-50-1000
<fixcount> Number of attempts for positioning.
0–1000 0 indicates continuous positioning. Non-zero values indicate the
actual number of attempts for positioning.
<fixrate> The interval time between the first and second time positioning. Unit: s.
1–65535
<errcode> Integer type. The error code of the operation. If it is not 0, it is the type of error.
Please refer to Chapter 4 for details.
AT+QGPSEND Turn off GNSS
Test Command
AT+QGPSEND=?
Response
OK
Execution Command
AT+QGPSEND
Response
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<errcode> Integer type. The error code of the operation. If it is not 0, it is the type of error. Please
refer to Chapter 4 for details.
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2.5. AT+QGPSLOC Acquire Positioning Information
Before executing the command, GNSS must be turned on via AT+QGPS. If it fails in position fix, +CME
ERROR: <errcode> will be returned to indicate the corresponding situation.
Parameter
AT+QGPSLOC Acquire Positioning Information
Test Command
AT+QGPSLOC=?
Response
+QGPSLOC: <UTC>,<latitude>,<longitude>,<hdop>,<altit
ude>,<fix>,<cog>,<spkm>,<spkn>,<date>,<nsat>
OK
Write Command
AT+QGPSLOC=<mode>
Response
+QGPSLOC: <UTC>,<latitude>,<longitude>,<hdop>,<altit
ude>,<fix>,<cog>,<spkm>,<spkn>,<date>,<nsat>
OK
If there is any error related to ME functionality:
+CME ERROR: <errcode>
Reference
<mode> Latitude and longitude display format.
0 <latitude>,<longitude> format: ddmm.mmmm N/S,dddmm.mmmm E/W
1 <latitude>,<longitude> format: ddmm.mmmmmm N/S,dddmm.mmmmmm E/W
2 <latitude>,<longitude> format: (-)dd.ddddd,(-)ddd.ddddd
<UTC> UTC time.
Format: hhmmss.sss (Quoted from GPGGA sentence).
<latitude> Latitude.
If <mode> is 0:
Format: ddmm.mmmm N/S (Quoted from GPGGA sentence)
dd 00-89 (degree)
mm.mmmm 00.0000-59.9999 (minute)
N/S North latitude/South latitude
If <mode> is 1:
Format: ddmm.mmmmmm N/S (Quoted from GPGGA sentence)
dd 00-89 (degree)
mm.mmmmmm 00.000000-59.999999 (minute)
N/S North latitude/South latitude
If <mode> is 2:
Format: (-)dd.ddddd (Quoted from GPGGA sentence)
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